Phantom-DriveBase

Swerve Drive Robot Template with Advanced Features

Driving

• Field Centric Swerve with 100% custom kinematics.
• Drive Wheels Feedforward via Look-Up-Table.
• Acceleration Constraining during pilot controlled period.
• Robot Configuration Storage in JSON files.
• Robot Status Visualization through dashboard, led and Networktables-Alerts.

Auto

• Decisive Autonomous Framework with custom auto-follower, allowing robots to “react to its surroundings”.
• Multiple Path-Planning Tools Selectable, including PathPlanner, Choreo, PathWeaver and

Logging

Built Upon Advantage Kit, everything is logged and recorded for after-match analysis

GitHub - Mechanical-Advantage/AdvantageKit: Monorepo for robot framework and tools

Vision

GitHub - Shenzhen-Robotics-Alliance/FRC-Phantom-Vision: a rapid, powerful, easy-to-use and open-source vision framework for FRC

• April-tag Robot Localization Custom filtering mechanism and odometer calibration algorithm, compatible with photon-vision.
• Auto Alignment code, set-to-go for coming seasons.
• 360° Game-Piece Detection running on Jetson-Orin-Nano coprocessor.

Robot Digital-Twin Engine

• Uses Actual Robot Code in the simulator. This means that you can tune Auto-Stages, PIDs, Auto-Scoring functions and more. The simulator display robots through Advantage Scope.

GitHub - Mechanical-Advantage/AdvantageScope: Robot telemetry application

• Swerve-Drive Physics Simulation, fine-tuned with experimental data measured in our training field, as well as real-life data gathered from real competitions this year.

  

• 2D Rigid-Body Collision Simulation for game-pieces and robots on field.

• Opponent Robots Simulation that can either be controlled by a gamepad to play defense or follow pre-stored cycle paths.